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		<h1>CSC560</h1>
		<h2>Design and Analysis of Real-Time Systems</h2>
		<ul>
			<li class="first">
				<a href="../index.html" accesskey="1" title="">Home</a>
			</li>
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				<a href="index.html" accesskey="2" title=""><b>Project 1</b></a>
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				<a href="../project2/index.html" accesskey="3" title="">Project 2</a>
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				<a href="../project3/index.html" accesskey="4" title="">Project 3</a>
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				<a href="../project4/index.html" accesskey="4" title="">Project 4</a>
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				<a href="../project5/index.html" accesskey="4" title="">Project 5</a>
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		<h2>Hardware Description</h2>
		<p>
			This section describes the hardware used for the first project. For detailed information
			on the hardware components, please refer to the data sheets provided by the hardware 
			manufacturer.
		</p>
		<h2>AT90USBKey</h2>
		<p>
			For this project, we are given 2 AT90USBKey boards. One serves as the control station, 
			and the other serves as the roomba station. This board contains the AT90USB1287
			microcontroller and the components relevant to our project are the USB interfaces, 
			I/O ports, bi-color LEDs.
			<p>
			<a href="../images/at90usbkey.jpg"><img src="../images/at90usbkey.jpg" alt="" width="100%"/></a>
			</p>
		<p>
			The USB interface is needed for two reasons. First, it provides power to 
			the board. Second, programs written from the computer can be 
			installed on the board via USB. 
		</p>
		<p>
			The I/O ports are needed in order to interface with	other component such as the radio
			and the FTDI FT232R USB breakout board.		
		</p> 
		<p>
			The bi-color LEDs are also very important components since they can be used to debug our programs.
			Instructions can be inserted in our code to turn on/off LEDs in order to know if certain
			parts of our code has been executed.
		</p>
		
		<p>
			Features of the AT90USBKey are:
			<ul>
					<li>Flash Memory : 128 kB
					<li>Clock FrequenClock Frequency : 	0 - 16 MHz
					<li>Supply Voltage : 2.7 - 5.5 V</li>
					<li>Interrupt pins: 8 </li>
					<li>I/O Pins : 48</li>
					<li>On-Chip debug support with JTag</li>
					<li>Serial I/O : Full Duplex SPI, Full Duplex USART</li>
					<li>Timers / Counters : 2</li>
				</ul>
		</p>
		<p>
			Other functionalities provided by the microcontroller are USART 
			communication, interrupts, timers, and others.
		</p>
		<h2>FTDI FT232R USB breakout board</h2>
		<p>
			The FT232R is a USB to serial UART interface with optional clock generator 
			output. This board was connected to the AT90USBKey and also via USB to our computer. 
			It is used primarily to display information, e.g. print strings to a
			computer terminal. It was used to display information about joystick commands,
			packet data, and roombas information such as its distance, time and speed.
			It uses SPI (Serial Peripheral Interface), which is a full-duplex interface, meaning 
			that it can sends data in both direction at once, but on separate lines.
			<p>
			<a href="../images/uart.jpg"><img src="../images/uart.jpg" alt="" width="100%"/></a>
			</p>
		</p>
		<h2>nRF24L01 Radio</h2>
		<p>
			The nRF24L01 radio controller is a new component introduced this semester to 
			create a wireless communication link between the control and roomba stations.
			It is built on a MiRF-v2 board composed of a voltage regulator, 16 MHz oscillator,
			8-pin breakout, external antenna connector, and other electronic components.
			<p>
			<a href="../images/radio.jpg"><img src="../images/radio.jpg" alt="" width="100%"/></a>
			</p>
		</p>
		
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		<h3>Project Sections</h3>
		<ul>
			<li class="first"><a href="hardware.html"><b>Hardware Description</b></a></li>
			<li><a href="design.html">Software Design</a></li>
			<li><a href="development_process.html">Development Process</a></li>
			<li><a href="../doxygen/html/index.html">Doxygen</a></li>
			<li><a href="tutorial.html">Tutorial</a></li>
			<li><a href="http://code.google.com/p/wireless-roomba">Google Code</a></li>
		</ul>
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